version: 66.06
glider: 148
mission: 12
dive: 13
start: 5 24 113 13 56 33
data:
$ID,148
$MISSION,12
$DIVE,13
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,340
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,100
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52665
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015215.3
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3412
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,86
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,134919,2243.868,-15800.825,35,3.1,55,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.7
$GPS2,135539,2243.908,-15800.804,12,2.5,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAL1
$TGT_LATLONG,2247.830,-15759.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.026,0.258
$KALMAN_X,-625.0,302.7,-526.2,-423.5,251.7
$KALMAN_Y,4875.3,-468.8,-412.3,-5992.6,368.5
$MHEAD_RNG_PITCHd_Wd,355.6,7426,-17.5,-10.000
$D_GRID,300
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,77,0.00,0.00,-59.58,0.000,2,0.000,0.000,413,1625,2989,0,0,0,0,0,0
$GC,81,-1.27,-146.0,3.1,-4.2,8,113,14.85,2.42,-10.20,0.000,4,0.170,0.041,3128,3140,3597,0,0,0,0,0,0
$GC,191,-1.19,-146.0,34.1,-17.6,22,196,0.12,2.50,0.00,0.000,6,0.110,0.033,3155,1595,3597,0,0,0,0,0,0
$GC,459,-1.04,-146.0,80.2,-14.9,46,464,0.12,2.35,0.00,0.000,4,0.114,0.044,3182,167,3597,0,0,0,0,0,0
$GC,520,-1.15,-146.0,88.0,-10.6,51,524,0.00,2.12,0.00,0.000,6,0.000,0.019,3182,1567,3597,0,0,0,0,0,0
$GC,786,-1.15,-146.0,116.4,-10.6,75,792,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1571,3597,0,0,0,0,0,0
$GC,1047,-1.15,-146.0,146.1,-11.2,100,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1570,3598,0,0,0,0,0,0
$GC,1306,-1.15,-146.0,173.5,-10.6,124,1310,0.00,2.53,0.00,0.000,4,0.000,0.026,3182,3170,3598,0,0,0,0,0,0
$GC,1351,-1.35,-146.0,178.2,-9.2,128,1357,0.28,2.55,0.00,0.000,6,0.035,0.030,3070,1588,3597,0,0,0,0,0,0
$GC,1609,-1.02,-146.0,224.9,-19.6,143,1614,0.50,2.30,0.00,0.000,4,0.094,0.043,3182,166,3598,0,0,0,0,0,0
$GC,1667,-1.19,-146.0,232.9,-9.9,144,1672,0.12,2.15,0.00,0.000,6,0.064,0.021,3123,1582,3598,0,0,0,0,0,0
$GC,1941,-1.11,-146.0,267.3,-12.7,151,1946,0.20,2.50,0.00,0.000,4,0.091,0.028,3170,3167,3598,0,0,0,0,0,0
$GC,1986,-1.33,-146.0,271.8,-9.2,152,1991,0.20,2.53,0.00,0.000,6,0.043,0.032,3077,1593,3597,0,0,0,0,0,0
$STATE,2190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2190,begin apogee
$GC,2196,-0.31,0.0,302.3,15.3,157,2313,1.17,0.00,112.30,0.648,6,0.078,0.000,3342,1403,2999,0,0,0,0,0,0
$STATE,2313,end apogee,CONTROL_FINISHED_OK
$STATE,2313,begin climb
$GC,2317,1.27,146.0,307.1,0.0,160,2441,1.40,2.67,115.12,0.649,4,0.031,0.047,3690,2975,2402,0,0,0,0,0,0
$GC,2535,1.07,228.1,307.6,6.2,165,2611,0.20,2.58,66.65,0.642,6,0.113,0.040,3649,1430,2069,0,0,0,0,0,0
$GC,2866,0.95,238.2,277.1,9.5,173,2882,0.15,2.17,9.25,0.545,4,0.122,0.064,3620,169,2027,0,0,0,0,0,0
$GC,2926,0.83,238.2,271.4,10.0,174,2930,0.12,1.95,0.00,0.000,6,0.129,0.022,3594,1417,2027,0,0,0,0,0,0
$GC,3199,0.88,277.7,249.0,8.2,181,3242,0.00,2.58,34.90,0.613,4,0.000,0.031,3594,2984,1866,0,0,0,0,0,0
$GC,3259,1.03,322.8,244.1,7.9,182,3305,0.17,2.60,39.25,0.607,6,0.051,0.038,3657,1418,1683,0,0,0,0,0,0
$GC,3574,0.96,322.8,204.7,12.4,190,3579,0.17,2.12,0.00,0.000,4,0.105,0.055,3620,167,1679,0,0,0,0,0,0
$GC,3618,0.96,322.8,198.9,12.4,191,3621,0.00,1.98,0.00,0.000,6,0.000,0.022,3620,1442,1678,0,0,0,0,0,0
$GC,3886,0.96,322.8,168.4,10.9,216,3890,0.00,2.12,0.00,0.000,4,0.000,0.052,3620,166,1676,0,0,0,0,0,0
$GC,3941,0.96,322.8,161.4,12.7,221,3944,0.00,1.92,0.00,0.000,6,0.000,0.021,3620,1428,1676,0,0,0,0,0,0
$GC,4208,0.97,325.4,133.9,9.9,246,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1431,1676,0,0,0,0,0,0
$GC,4461,1.04,325.4,107.8,10.3,270,4465,0.00,2.10,0.00,0.000,4,0.000,0.052,3620,162,1676,0,0,0,0,0,0
$GC,4482,1.04,325.4,105.3,10.7,271,4487,0.00,1.95,0.00,0.000,6,0.000,0.021,3620,1438,1676,0,0,0,0,0,0
$GC,4747,1.14,334.7,80.0,9.6,296,4764,0.17,2.20,10.30,0.453,4,0.058,0.058,3679,161,1634,0,0,0,0,0,0
$GC,4775,1.14,334.7,77.0,10.5,298,4779,0.00,1.92,0.00,0.000,6,0.000,0.025,3679,1428,1635,0,0,0,0,0,0
$GC,5048,1.14,334.7,44.7,12.2,323,5051,0.00,2.10,0.00,0.000,4,0.000,0.050,3679,166,1633,0,0,0,0,0,0
$GC,5067,1.07,334.7,41.7,12.8,324,5072,0.17,1.92,0.00,0.000,6,0.109,0.021,3643,1435,1633,0,0,0,0,0,0
$GC,5359,1.17,356.3,14.7,9.0,361,5385,0.10,2.12,19.80,0.437,4,0.082,0.048,3683,166,1545,0,0,0,0,0,0
$GC,5427,1.05,356.3,6.9,12.9,370,5436,0.17,1.92,0.00,0.000,6,0.085,0.020,3641,1418,1545,0,0,0,0,0,0
$STATE,5450,end climb,SURFACE_DEPTH_REACHED
$STATE,5450,begin surface coast
$FINISH,0.5,1.022076
$STATE,5496,end surface coast,CONTROL_FINISHED_OK
$STATE,5497,begin surface
$SM_CCo,5521,19.75,0.427,0,0,1450,380.21
$SM_GC,1.43,0.00,0.00,19.75,0.000,0.000,0.427,414,1624,1450,-13.79,0.71,380.21
$IRIDIUM_FIX,2237.01,-15758.03,180802,121202
$TT8_MAMPS,0.027612
$HUMID,63.97
$INTERNAL_PRESSURE,9.52572
$TCM_TEMP,23.10
$XPDR_PINGS,28
$24V_AH,23.6,1.429
$10V_AH,9.9,1.361
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.350,63.375,407.575,19.750,0.000,30.030,37.833,175.431,7.000,0.000,34.083,755.939,2779.258,402.804,1538.738,449.019,33.343,970.103,0.000,1529.166,0.000,0.538,0.000
$DEVICE_MAMPS,170.274,63.661,648.882,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,255.799,271.200,348.430,714.030,974.524,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,28897,380
$CAP_FILE_SIZE,75647,0
$CFSIZE,260165632,171413504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240513,153003,2244.665,-15800.838,7,99.0,27,10.1